6 accepted papers
In this research, a soft robotic gripper with a variable stiffness enabled by a novel positive pressure layer jamming technology was developed and fabricated in two materials using customized additive manufacturing. A novel positive layer jamming technology was developed for tuning stiffness of the
In this paper, we present a novel design concept for a robot arm link with variable stiffness. Variable stiffness links are intended to grant a robot the safety benefits of compliance and the performance benefits of stiffness. Our compact design actively modulates stiffness via parallel, rotating be…
Current robotics industry trends show an increased interest in the interaction between humans and robots in a variety of fields, ranging from collaborative robots in manufacturing to assisted medical devices in the medical field. One limiting factor in present applications is the ability to actively…
In this paper, we study the effect of mechanical compliance on the impact force of human-robot interactions, more specifically the maximum impact force during a collision. Here we consider two methods of introducing compliance to industrial manipulators: joint compliance and link compliance. To comp…
In this paper, we present a novel wheeled robot that transforms from a circled configuration to a spoke-like legged configuration. Wheeled mobile robots are able to quickly and efficiently move on flat surfaces. However they may sink into a terrain with dynamic surface such as snow, sand, dirt, moss…
In this article, we build dynamic models of 2D compliant links to evaluate injury level in a human-robot interaction. Safety is a premium concern for co-robotic systems. It has been studied that using compliant links in a robot can greatly reduce the injury level. Since most safety criteria are base…